US7854595B2 - Wind turbine blade tip shapes - Google Patents
Wind turbine blade tip shapes Download PDFInfo
- Publication number
- US7854595B2 US7854595B2 US12/182,184 US18218408A US7854595B2 US 7854595 B2 US7854595 B2 US 7854595B2 US 18218408 A US18218408 A US 18218408A US 7854595 B2 US7854595 B2 US 7854595B2
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- US
- United States
- Prior art keywords
- chord
- blade
- tip
- approximately
- leading edge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related, expires
Links
- 238000009826 distribution Methods 0.000 claims abstract description 8
- 230000009467 reduction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003518 caustics Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
- F03D1/0608—Rotors characterised by their aerodynamic shape
- F03D1/0633—Rotors characterised by their aerodynamic shape of the blades
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
- F03D1/0608—Rotors characterised by their aerodynamic shape
- F03D1/0633—Rotors characterised by their aerodynamic shape of the blades
- F03D1/0641—Rotors characterised by their aerodynamic shape of the blades of the section profile of the blades, i.e. aerofoil profile
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2240/00—Components
- F05B2240/20—Rotors
- F05B2240/30—Characteristics of rotor blades, i.e. of any element transforming dynamic fluid energy to or from rotational energy and being attached to a rotor
- F05B2240/301—Cross-section characteristics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2250/00—Geometry
- F05B2250/70—Shape
- F05B2250/71—Shape curved
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/96—Preventing, counteracting or reducing vibration or noise
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S416/00—Fluid reaction surfaces, i.e. impellers
- Y10S416/02—Formulas of curves
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S416/00—Fluid reaction surfaces, i.e. impellers
- Y10S416/05—Variable camber or chord length
Definitions
- the subject matter described here generally relates to fluid reaction surfaces with specific blade structures and, more particularly, to wind turbines blades tip shapes.
- a wind turbine is a machine for converting the kinetic energy in wind into mechanical energy. If the mechanical energy is used directly by the machinery, such as to pump water or to grind wheat, then the wind turbine may be referred to as a windmill. Similarly, if the mechanical energy is converted to electricity, then the machine may also be referred to as a wind generator or wind power plant.
- Wind turbines are typically categorized according to the vertical or horizontal axis about which the blades rotate.
- One so-called horizontal-axis wind generator is schematically illustrated in FIG. 1 and available from General Electric Company.
- This particular configuration for a wind turbine 2 includes a tower 4 supporting a nacelle 6 enclosing a drive train 8 .
- the blades 10 are arranged on a hub to form a “rotor” at one end of the drive train 8 outside of the nacelle 6 .
- the rotating blades 10 drive a gearbox 12 connected to an electrical generator 14 at the other end of the drive train 8 arranged inside the nacelle 6 along with a control system 16 that receives input from an anemometer 18 .
- the blades 10 generate lift and capture momentum from moving air that is then imparted to a rotor as the blades spin in the “rotor plane.”
- Each blade is typically secured at its “root” end, and then “spans” radially “outboard” to a free, “tip” end. The distance from the tip to the root, at the opposite end of the blade, is called the “span.”
- the front, or “leading edge,” of the blade connects the forward-most points of the blade that first contact the air.
- the rear, or “trailing edge,” of the blade is where airflow that has been separated by the leading edge rejoins after passing over the suction and pressure surfaces of the blade.
- chord line connects the leading and trailing edges of a cross section of the blade 10 that is oriented normal to the radial direction.
- the length of the chord line is simply referred to as the “chord.” Since many blades 10 change their chord over the span, the chord length is referred to as the “root chord,” near the root, and the “tip chord,” near the tip of the blade.
- the chord lines are arranged in the “chord planes” that extend through the corresponding pressure and suction surfaces of the blade.
- the center of the chord plane, or “chord plane center line,” is formed by a line on the chord plane which is halfway between the leading and trailing edge of the blade 10 . Multiple “shear web planes” are arranged perpendicular to the chord plane.
- FIG. 2 is schematic planform view of the tip portion of the blade 10 shown in FIG. 1 where the tip chord 20 forms a “leading edge tip chord angle” ⁇ with the leading edge 22 , and a “trailing edge tip chord angle” ⁇ with the trailing edge 24 .
- the noise and power performance of the wind turbine blades 10 depends, in part, upon vortex development at the tip of the blade.
- Various techniques have been proposed to control this vortex development.
- commonly-owned co-pending U.S. application Ser. No. 11/827,532 filed on Jul. 12, 2007 discloses a wind turbine blade having a vortex breaking system for reducing noise
- commonly-owned co-pending U.S. Application Serial No. 12129997 filed on May 30, 2008 discloses wind turbine blade planforms with twisted and tapered tips.
- vortex development can generally be reduced by minimizing the aerodynamic load at the tip of the blade, so-called “tip unloading” typically causes a significant reduction in power that is produced by the blade.
- a blade for a wind turbine including a chord of length “c” positioned with a leading edge tip chord angle and trailing edge tip chord angle of between approximately 45 and 75 degrees; a tip having a shear web plane radii distribution in the ranges of
- L/c (%) R/c (%) 0-10% 1.03-3.68% 30-40% 2.91-5.79% 60-70% 1.77-2.5% 90-100% 0.229-.350% where “L/c” is a range of an approximate normalized location along the chord line expressed as a percentage of the chord length from a leading edge of the blade; and where “R/c” is a range of an approximate normalized shear web plane tip radius, expressed as a percentage of the chord length, for each normalized location L/c.
- FIGs. are not necessarily drawn to scale, but use the same reference numerals to designate corresponding parts throughout each of the several views.
- FIG. 1 is a schematic side view of a conventional wind generator.
- FIG. 2 is a schematic planform view of a tip portion of the conventional blade shown in FIG. 1
- FIG. 3 is an orthographic view of a cap secured to the tip of the blade shown in FIGS. 1 and 2 .
- FIG. 4 is a schematic orthographic view of a profile for shaping the cap shown in FIG. 3 .
- FIG. 5 is a noise spectra plot.
- FIG. 3 is an orthographic view of a cap 30 that is secured to the tip of the blade 10 shown in FIGS. 1 and 2 .
- the cap 30 may also be configured to fit with the tips of other wind turbine blades.
- the cap 30 may be provided with a bolt or mounting bracket that is secured to a drain hole of the blade.
- some or all of the cap 30 may be configured as an integral part of any wind turbine blade.
- the cap 30 may sometimes be referred to as a “side edge cap.”
- FIG. 4 is a schematic, orthographic view of a profile for the tip of a wind turbine blade such as the cap shown in FIG. 3 .
- the leading edge tip chord angle ⁇ and the trailing edge tip chord angle ⁇ are illustrated as in FIG. 2 with respect to the chord plane center line 40 .
- the leading edge tip chord angle ⁇ and trailing edge tip chord angle ⁇ may be substantially the same magnitude, in a range of between about 75 degrees and 45 degrees, or a smaller range of between about 50 degrees and 70 degrees, or an even smaller range of between about 65 degrees and approximately 55 degrees.
- the leading edge tip chord angle ⁇ and trailing edge tip chord angle ⁇ may have different magnitudes within these ranges, or at least one or both may be about 60 degrees.
- the blade can be shortened (“under built”) or lengthened (“over built”) in order to obtain a tip chord having the appropriate leading edge tip chord angle ⁇ and trailing edge tip chord angle ⁇ .
- the outer edge of the tip is provided with multiple curvatures in various shear web planes.
- the first shear web plane curvature 41 is arranged at about 0% to 10% of the chord from the leading edge; the second shear web plane curvature 42 is arranged at about 30% to 40% of the chord from the leading edge; the third shear web plane curvature 43 is arranged at about 60% to 70% of the chord from the leading edge; and the fourth shear web plane curvature 44 is arranged at about 90% to 100% of the chord from the leading edge.
- any other number of curvatures may also be arranged at these and/or other locations along the chord plane 46 .
- chord line 20 is positioned with a leading edge tip chord angle ⁇ and trailing edge tip chord angle ⁇ in a wide range of between approximately 45 and 75 degrees, a narrower range of approximately 50 and 70, and an even narrower range of between 55 and 65 degrees.
- the curvatures 41 - 44 are semicircular with the following shear web plane radii distribution defining a range of radius values for “R” in millimeters at each location:
- the chord length may be approximately 350 mm.
- the ratios listed above may be used with other chord lengths and/or at other distances along the chord 20 from the leading edge 22 of the blade. It is also expected that suitable results may be achieved by varying the above values for “R” and/or “R/c” over a range of values between plus or minus approximately ten percent, a narrower range of between plus or minus approximately five percent, and an even narrower range of between approximately one percent.
- curvature configurations may also be used, including, but not limited to any portion or combination of various types of algebraic curves, caustic curves, cissoids, conchoids, conic sections, elliptic curves, parabolic curves, hyperbolic curves, general plane curves, implicit curves, inverse curves, involutes and evolutes, pedal curves, polar curves, pursuit curves, radial curves, roulettes, strophoids, rational, transcendental, fractal, continuous, discontinuous, and/or piecewise curves.
- algebraic curves including, but not limited to any portion or combination of various types of algebraic curves, caustic curves, cissoids, conchoids, conic sections, elliptic curves, parabolic curves, hyperbolic curves, general plane curves, implicit curves, inverse curves, involutes and evolutes, pedal curves, polar curves, pursuit curves, radial curves, roulettes, strophoids, rational, transcend
- FIG. 4 illustrates the suction surface projected spanwise to tangent point 48 and the pressure surface projected to tangent point 50 .
- the outermost portions of the curvatures 41 through 44 are then connected with a spline 52 , such as a B-spline, that completes a frame for the surface. The remaining surfaces of the tip are then smoothly laid over that frame.
- FIG. 5 is a noise spectra model plot showing sound pressure level in dBA on the vertical axis versus frequency in Hz on the horizontal axis for the blade 10 illustrated in FIG. 3 with a 350 mm chord length in the table above where the leading edge tip chord angle ⁇ l and trailing edge tip chord angle ⁇ are approximately 60 degrees.
- Plot line 54 corresponds to the blade without the cap 30 while plot line 56 corresponds to the blade 10 with the cap.
- a notable reduction in sound pressure level occurs at mid-range frequencies when the cap 30 is used. It is expected that additional reductions in noise level will be available when the tip is formed from a porous material such as disclosed in commonly-owned co-pending U.S. application Ser. No. 11/798,377 which is incorporated by reference here.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
where “L/c” is a range of an approximate normalized location along the chord line expressed as a percentage of the chord length from a leading edge of the blade; and where “R/c” is a range of an approximate normalized shear web plane tip radius expressed as a percentage of the chord length, for each normalized location L/c.
Description
L/c (%) | R/c (%) | |
0-10% | 1.03-3.68% | |
30-40% | 2.91-5.79% | |
60-70% | 1.77-2.5% | |
90-100% | 0.229-.350% | |
where “L/c” is a range of an approximate normalized location along the chord line expressed as a percentage of the chord length from a leading edge of the blade; and where “R/c” is a range of an approximate normalized shear web plane tip radius, expressed as a percentage of the chord length, for each normalized location L/c.
Location | L/c (%) | R (mm) | R/c (%) | |
41 | 0-10% | 3.6-7 mm | 1.03-3.68% | |
42 | 30-40% | 10-11 mm | 2.91-5.79% | |
43 | 60-70% | 3.6-6.2 mm | 1.77-2.5% | |
44 | 90-100% | 0.5-0.8 mm | 0.229-.350% | |
L/c (%) | R/c (%) | ||
0-10% | 0.927-1.13% | ||
30-40% | 2.62-3.20% | ||
60-70% | 1.59-1.95% | ||
90-100% | 0.206-.252% | ||
For example, the following table lists typical values for R and R/c in millimeters at specific locations for three different approximate chord lengths in millimeters where the leading edge tip chord angle α and trailing edge tip chord angle β are both 60 degrees:
Location | L/c (%) | R (mm) | R/c (%) | R (mm) | R/c (%) | R (mm) | R/c (%) |
41 | 5% | 7 | mm | 3.68% | 4 | mm | 2.00% | 3.6 | mm | 1.03% |
42 | 35% | 11 | mm | 5.79% | 10 | mm | 5.00% | 10.2 | mm | 2.91% |
43 | 65% | 3.5 | mm | 1.84% | 5 | mm | 2.50% | 6.2 | mm | 1.77% |
44 | 95% | 0.5 | mm | .263% | 0.7 | mm | 0.350% | 0.8 | mm | 0.229% |
Chord | 190 | mm | 200 | mm | 350 | mm | ||||
Claims (20)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/182,184 US7854595B2 (en) | 2008-07-30 | 2008-07-30 | Wind turbine blade tip shapes |
EP09166037.3A EP2149701A3 (en) | 2008-07-30 | 2009-07-21 | Wind turbine blade tip shapes |
CN2009101658309A CN101644229B (en) | 2008-07-30 | 2009-07-30 | Wind turbine blade tip shapes |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/182,184 US7854595B2 (en) | 2008-07-30 | 2008-07-30 | Wind turbine blade tip shapes |
Publications (2)
Publication Number | Publication Date |
---|---|
US20100028157A1 US20100028157A1 (en) | 2010-02-04 |
US7854595B2 true US7854595B2 (en) | 2010-12-21 |
Family
ID=40937470
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/182,184 Expired - Fee Related US7854595B2 (en) | 2008-07-30 | 2008-07-30 | Wind turbine blade tip shapes |
Country Status (3)
Country | Link |
---|---|
US (1) | US7854595B2 (en) |
EP (1) | EP2149701A3 (en) |
CN (1) | CN101644229B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100187826A1 (en) * | 2009-01-28 | 2010-07-29 | Carr Fred K | Submersible rotor design |
US10690111B2 (en) | 2016-12-02 | 2020-06-23 | General Electric Company | Wind turbine rotor blade |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT507091B1 (en) * | 2008-09-22 | 2010-02-15 | Walter Enthammer | TURBOMACHINE |
US10414486B2 (en) | 2015-11-30 | 2019-09-17 | General Electric Company | Airfoil for a rotary machine including a propellor assembly |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2962260A (en) * | 1954-12-13 | 1960-11-29 | United Aircraft Corp | Sweep back in blading |
US4334828A (en) * | 1980-01-21 | 1982-06-15 | United Technologies Corporation | Helicopter blade with a tip having a selected combination of sweep, taper and anhedral to improve hover efficiency |
US4451206A (en) * | 1981-06-05 | 1984-05-29 | Office Nationale D'etudes Et De Recherches Aerospatiales | Blade end for rotary wing of an aircraft and rotary wing provided with such blade ends |
US4880355A (en) * | 1987-06-29 | 1989-11-14 | Aerospatiale Societe Nationale Industrielle | Blade with curved end for a rotary airfoil of an aircraft |
US6000911A (en) * | 1996-11-19 | 1999-12-14 | Eurocopter | Blade with swept-back tip for the rotary wings of an aircraft |
US20090297355A1 (en) * | 2008-05-30 | 2009-12-03 | General Electric Company | Wind turbine blade planforms with twisted and tapered tips |
US20090297354A1 (en) * | 2008-05-30 | 2009-12-03 | General Electric Company | Wind turbine blades with twisted and tapered tips |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10300284A1 (en) * | 2003-01-02 | 2004-07-15 | Aloys Wobben | Turbine rotor blade for wind-powered energy plant has tip region curved or angled in direction of rotor blade trailing edge |
ES2318925B1 (en) * | 2005-09-22 | 2010-02-11 | GAMESA INNOVATION & TECHNOLOGY, S.L. | AEROGENERATOR WITH A BLADE ROTOR THAT REDUCES NOISE. |
CN101169101B (en) * | 2007-11-08 | 2011-04-20 | 申振华 | Wind turbine impeller installed with blown flap wing-like vane |
-
2008
- 2008-07-30 US US12/182,184 patent/US7854595B2/en not_active Expired - Fee Related
-
2009
- 2009-07-21 EP EP09166037.3A patent/EP2149701A3/en not_active Withdrawn
- 2009-07-30 CN CN2009101658309A patent/CN101644229B/en not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2962260A (en) * | 1954-12-13 | 1960-11-29 | United Aircraft Corp | Sweep back in blading |
US4334828A (en) * | 1980-01-21 | 1982-06-15 | United Technologies Corporation | Helicopter blade with a tip having a selected combination of sweep, taper and anhedral to improve hover efficiency |
US4451206A (en) * | 1981-06-05 | 1984-05-29 | Office Nationale D'etudes Et De Recherches Aerospatiales | Blade end for rotary wing of an aircraft and rotary wing provided with such blade ends |
US4880355A (en) * | 1987-06-29 | 1989-11-14 | Aerospatiale Societe Nationale Industrielle | Blade with curved end for a rotary airfoil of an aircraft |
US6000911A (en) * | 1996-11-19 | 1999-12-14 | Eurocopter | Blade with swept-back tip for the rotary wings of an aircraft |
US20090297355A1 (en) * | 2008-05-30 | 2009-12-03 | General Electric Company | Wind turbine blade planforms with twisted and tapered tips |
US20090297354A1 (en) * | 2008-05-30 | 2009-12-03 | General Electric Company | Wind turbine blades with twisted and tapered tips |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100187826A1 (en) * | 2009-01-28 | 2010-07-29 | Carr Fred K | Submersible rotor design |
US8100648B2 (en) * | 2009-01-28 | 2012-01-24 | Carr Fred K | Submersible rotor design |
US10690111B2 (en) | 2016-12-02 | 2020-06-23 | General Electric Company | Wind turbine rotor blade |
Also Published As
Publication number | Publication date |
---|---|
CN101644229A (en) | 2010-02-10 |
US20100028157A1 (en) | 2010-02-04 |
EP2149701A3 (en) | 2013-09-25 |
EP2149701A2 (en) | 2010-02-03 |
CN101644229B (en) | 2013-07-31 |
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